Patroller positioning method based on spliced images

A technology of splicing images and positioning methods, applied in image analysis, image data processing, instruments, etc., can solve the problems of limited scale difference, small number of feature points, lack of texture, etc., to increase the range, improve the matching success rate, avoid The effect of a failed match

Inactive Publication Date: 2014-07-16
BEIJING AEROSPACE CONTROL CENT
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Problems solved by technology

However, in the lunar surface environment, the texture is relatively scarce and the lighting conditions are extremely complex, and the overlapping areas of the images taken by the rover at different positions are relatively limited and there are large scale differences
The lack of texture makes it difficult to extract feature points, and the complex lighting conditions and large-scale differences in images make the matching of image featur

Method used

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  • Patroller positioning method based on spliced images
  • Patroller positioning method based on spliced images
  • Patroller positioning method based on spliced images

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[0025] like figure 1 As shown, the present invention provides a splicing image-based patroller positioning method, comprising the following steps:

[0026] Step S1: Take the known site of the patrol as the previous site, and the new site that the patrol reaches a certain distance forward as the current site, and use the binocular stereo camera to shoot sequence images within a certain angle range in front of the previous site and the current site .

[0027] like figure 2 As shown, the rover is a mobile robot with four driving wheels, including the rover body, a vertical mast mechanism located above the front of the vehicle body, a two-degree-of-freedom pan-tilt mechanism at the top of the mast, and a pan-tilt support mounted on the top of the mast. The binocular camera on the stand; the gimbal can be rotated in two degrees of freedom, pitch and yaw, and the camera can be controlled to shoot images in different directions through the gimbal rotation; the mast, gimbal and bin...

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Abstract

The invention discloses a patroller positioning method based on spliced images. Sequent images are shoot at certain angles in front of a preceding site and a current site by means of a binocular three-dimensional camera; the sequent images shoot by a left camera lens at the preceding site and the current site are spliced through a cylindrical projection method to obtain wide-angle spliced images in front of the left camera lens at the preceding site and the current site; the overlapped area of the spliced images of the left camera lens at the preceding site and the current site are calculated, Affine-SIFT feature extraction and matching are carried out on the overlapped area, and image matching feature points of the preceding site and the current site are looked for; the matching feature points are calculated reversely into an original image of the left camera lens, corresponding matching feature points are extracted in an image of a right camera lens, and faulted feature points are eliminated; the position and the posture of a patroller on the current site are solved in a light beam method. According to the technical scheme, high-precision posture determining and positioning of the patroller can be achieved.

Description

technical field [0001] The invention relates to the technical field of positioning a lunar surface patrol device, in particular to a method for positioning a patrol device based on spliced ​​images. Background technique [0002] The lunar surface patrol device is a mobile robot that performs close-range scientific exploration tasks in the complex and unstructured lunar surface environment. It can autonomously patrol the lunar surface or operate within hundreds of meters or even hundreds of kilometers of the lunar surface according to the command of the ground teleoperation center. , Realize the detection of the lunar surface environment through the scientific instruments carried by itself. In the process of autonomous cruising or remote control driving, the rover needs to know its own position and direction in the lunar surface coordinate system in order to unify its reconstructed lunar surface terrain under the same benchmark and guide subsequent path planning and travel. ...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 刘传凯王保丰王镓周建亮唐歌实卜彦龙袁建平张强苗萍许柏师明
Owner BEIJING AEROSPACE CONTROL CENT
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